• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.254-262
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• 2008

In this paper, we propose an adaptive neural dynamic surface control (DSC) approach with $H_{\infty}$ tracking performance for full dynamics of nonlinear flight systems. It is assumed that the model uncertainties such as structured and unstrutured uncertainties, and external disturbances influence the nonlinear aircraft model. In our control system, self recurrent wavelet neural networks (SRWNNs) are used to compensate the model uncertainties of nonlinear flight systems, and an adaptive DSC technique is extended for the disturbance attenuation of nonlinear flight systems. All weights of SRWNNs are trained on-line by the smooth projection algorithm. From Lyapunov stability theorem, it is shown that $H_{\infty}$ performance nom external disturbances can be obtained. Finally, we present the simulation results for a nonlinear six-degree-of-freedom F-16 aircraft model to confirm the effectiveness of the proposed control system.

• Journal of Intelligence and Information Systems
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• v.5 no.1
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• pp.103-123
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• 1999

Input filtering as a preprocessing method is so much crucial to get good performance in time series forecasting. There are a few preprocessing methods (i.e. ARMA outputs as time domain filters, and Fourier transform or wavelet transform as time-frequency domain filters) for handling time series. Specially, the time-frequency domain filters describe the fractal structure of financial markets better than the time domain filters due to theoretically additional frequency information. Therefore, we, first of all, try to describe and analyze specially some issues on the effectiveness of different filtering methods from viewpoint of the performance of a neural network based forecasting. And then we discuss about neural network model architecture issues, for example, what type of neural network learning architecture is selected for our time series forecasting, and what input size should be applied to a model. In this study an input selection problem is limited to a size selection of the lagged input variables. To solve this problem, we simulate on analyzing and comparing a few neural networks having different model architecture and also use an embedding dimension measure as chaotic time series analysis or nonlinear dynamic analysis to reduce the dimensionality (i.e. the size of time delayed input variables) of the models. Throughout our study, experiments for integration methods of joint time-frequency analysis and neural network techniques are applied to a case study of daily Korean won / U. S dollar exchange returns and finally we suggest an integration framework for future research from our experimental results.

• Progress in Superconductivity
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• v.4 no.1
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• pp.53-58
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• 2002

Noise from electronic instrumentation is invariably present in biomedical signals, although the art of instrumentation design is such that this noise source may be negligible. And sometimes signals of interest are contaminated or degraded by signals of similar type from another source. Biomedical signals are omni-presently contaminated by these background noises that span nearly all frequency bandwidths. In the magneto-cardiogram (MCG), several digital filters have been designed for the elimination of the power-line interference, broadband white noise, surrounding magnetic noise, and baseline wondering. In addition to the introduced FIR filter, notch, adaptive filter using the least mean square (LMS) algorithm, and recurrent neural network (RNN) filter, a new filtering method for effective noise canceling in MCG signals is proposed in this paper, which is realized by the wavelet packets. The experimental results show that the proposed filter using wavelet packet performs efficiently with respect to noise rejection. To verify this, two characteristics were analyzed and compared with LMS adaptive filter, SNR of filtered signal and attractor pattern using the nonlinear dynamics.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1848-1849
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• 2006

The new robust controller design method is proposed for the flight control systems with model uncertainties. The proposed control system is a combination of the adaptive dynamic surface control (DSC) technique and the self recurrent wavelet neural network (SRWNN). The adaptive DSC technique provides us with the ability to overcome the "explosion of complexity" problem of the backstepping controller. The SRWNNs are used to observe the arbitrary model uncertainties of flight systems and all their weights are trained on-line. From the Lyapunov stability analysis, their adaptation laws are induced and the uniformly ultimately boundedness of all signals in a closed-loop adaptive system is proved. Finally, simulation results for a high performance aircraft (F-16) are utilized to validate the good tracking performance and robustness of the proposed control system.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.12
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• pp.518-525
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• 2006

This paper presents the adaptive robust control method for the flight control systems with model uncertainties. The proposed control system can be composed simply by a combination of the adaptive dynamic surface control (DSC) technique and the self recurrent wavelet neural network (SRWNN). The adaptive DSC technique provides us with the ability to overcome the 'explosion of complexity' problem of the backstepping controller. The SRWNNs are used to observe the arbitrary model uncertainties of flight systems, and all their weights are trained on-line. From the Lyapunov stability analysis, their adaptation laws are induced and the uniformly ultimately boundedness of all signals in a closed-loop adaptive system is proved. Finally, simulation results for a high performance aircraft (F-16) are utilized to validate the good tracking performance and robustness of the proposed control system.

• ETRI Journal
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• v.46 no.4
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• pp.671-682
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• 2024

Violence can be committed anywhere, even in crowded places. It is hence necessary to monitor human activities for public safety. Surveillance cameras can monitor surrounding activities but require human assistance to continuously monitor every incident. Automatic violence detection is needed for early warning and fast response. However, such automation is still challenging because of low video resolution and blind spots. This paper uses ResNet50v2 and the gated recurrent unit (GRU) algorithm to detect violence in the Movies, Hockey, and Crowd video datasets. Spatial features were extracted from each frame sequence of the video using a pretrained model from ResNet50V2, which was then classified using the optimal trained model on the GRU architecture. The experimental results were then compared with wavelet feature extraction methods and classification models, such as the convolutional neural network and long short-term memory. The results show that the proposed combination of ResNet50V2 and GRU is robust and delivers the best performance in terms of accuracy, recall, precision, and F1-score. The use of ResNet50V2 for feature extraction can improve model performance.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1014-1021
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• 2008

This paper proposes an intelligent sliding mode control method for robotic systems with the unknown bound of model uncertainties. In our control structure, the unknown bound of model uncertainties is used as the gain of the sliding controller. Then, we employ the function approximation technique to estimate the unknown nonlinear function including the width of boundary layer and the uncertainty bound of robotic systems. The adaptation laws for all parameters of the self-recurrent wavelet neural network and those for the reconstruction error compensator are derived from the Lyapunov stability theorem, which are used for an on-line control of robotic systems with model uncertainties and external disturbances. Accordingly, the proposed method can not only overcome the chattering phenomenon in the control effort but also have the robustness regardless of model uncertainties and external disturbances. Finally, simulation results for the five-link biped robot are included to illustrate the effectiveness of the proposed method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.3
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• pp.154-163
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• 2013

In this paper, we propose a formation control algorithm for underactuated autonomous underwater vehicles (AUVs) with parametric uncertainties using the approach angle. The approach angle is used to solve the underactuated problem for AUVs, and the leader-follower strategy is used for the formation control. The proposed controller considers the nonzero off-diagonal terms of the mass matrix of the AUV model and the associated parametric uncertainties. Using the state transformation, the mass matrix, which has nonzero off-diagonal terms, is transformed into a diagonal matrix to simplify designing the control. To deal with the parametric uncertainties of the AUV model, a self-recurrent wavelet neural network is used. The proposed formation controller is designed based on the dynamic surface control technique. Some simulation results are presented to demonstrate the performance of the proposed control method.